#ifndef ROBO_DEVICE_H
#define ROBO_DEVICE_H
#include <cmath>
#include "vex.h"
using namespace vex;
using signature = vision::signature;
namespace RoboDevice{
    // Brain
    extern vex::brain Brain;
    // Controller
    extern vex::controller Controller;
    // Motor
    extern vex::motor LeftFrontMotor;
    extern vex::motor LeftBackMotor;
    extern vex::motor RightFrontMotor;
    extern vex::motor RightBackMotor;
    extern vex::motor RoboRoller;//转筒电机
    //extern vex::motor RoboArm;//转筒支架电机
    extern vex::motor RoboClampHeadUp;//前夹子上爪电机
    extern vex::motor RoboClampHeadDown;//前夹子下爪电机
    extern vex::motor RoboClampBack;//后夹子电机
    
    // Sensor
    extern vex::inertial Inertial;
    //vision
    extern signature VisionSensor__YELLOW_CUBE;
    extern signature VisionSensor__BLUE_CUBE;
    extern signature VisionSensor__RED_CUBE;
    extern signature VisionSensor__SIG_4;
    extern signature VisionSensor__SIG_5;
    extern signature VisionSensor__SIG_6;
    extern signature VisionSensor__SIG_7;
    extern vex::vision VisionSensor;

    //Timer

    extern vex::timer SystemTimer ;

    //Distance Measure
    extern vex::distance RoboDistance;

    // Function
    void RoboDeviceInit();
}


#endif // ROBO_DEVICE_H